<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.8.11"/>
<title>robot_properties_teststand: bullet_teststand Namespace Reference</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtreedata.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<script type="text/javascript">
  $(document).ready(initResizable);
  $(window).load(resizeHeight);
</script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<script type="text/javascript">
  $(document).ready(function() { init_search(); });
</script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">robot_properties_teststand
   </div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- Generated by Doxygen 1.8.11 -->
<script type="text/javascript">
var searchBox = new SearchBox("searchBox", "search",false,'Search');
</script>
  <div id="navrow1" class="tabs">
    <ul class="tablist">
      <li><a href="index.html"><span>Main&#160;Page</span></a></li>
      <li class="current"><a href="namespaces.html"><span>Namespaces</span></a></li>
      <li><a href="annotated.html"><span>Classes</span></a></li>
      <li>
        <div id="MSearchBox" class="MSearchBoxInactive">
        <span class="left">
          <img id="MSearchSelect" src="search/mag_sel.png"
               onmouseover="return searchBox.OnSearchSelectShow()"
               onmouseout="return searchBox.OnSearchSelectHide()"
               alt=""/>
          <input type="text" id="MSearchField" value="Search" accesskey="S"
               onfocus="searchBox.OnSearchFieldFocus(true)" 
               onblur="searchBox.OnSearchFieldFocus(false)" 
               onkeyup="searchBox.OnSearchFieldChange(event)"/>
          </span><span class="right">
            <a id="MSearchClose" href="javascript:searchBox.CloseResultsWindow()"><img id="MSearchCloseImg" border="0" src="search/close.png" alt=""/></a>
          </span>
        </div>
      </li>
    </ul>
  </div>
  <div id="navrow2" class="tabs2">
    <ul class="tablist">
      <li><a href="namespaces.html"><span>Namespace&#160;List</span></a></li>
    </ul>
  </div>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
  <div id="nav-tree">
    <div id="nav-tree-contents">
      <div id="nav-sync" class="sync"></div>
    </div>
  </div>
  <div id="splitbar" style="-moz-user-select:none;" 
       class="ui-resizable-handle">
  </div>
</div>
<script type="text/javascript">
$(document).ready(function(){initNavTree('namespacebullet__teststand.html','');});
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div class="header">
  <div class="summary">
<a href="#func-members">Functions</a> &#124;
<a href="#var-members">Variables</a>  </div>
  <div class="headertitle">
<div class="title">bullet_teststand Namespace Reference</div>  </div>
</div><!--header-->
<div class="contents">
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="func-members"></a>
Functions</h2></td></tr>
<tr class="memitem:adbc874db86b686aefdc072c3b66ceb48"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="adbc874db86b686aefdc072c3b66ceb48"></a>
def&#160;</td><td class="memItemRight" valign="bottom"><b>setState</b> (q, dq)</td></tr>
<tr class="separator:adbc874db86b686aefdc072c3b66ceb48"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="var-members"></a>
Variables</h2></td></tr>
<tr class="memitem:a341066231aef6f235b71a7b2e0f14dbf"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a341066231aef6f235b71a7b2e0f14dbf"></a>
&#160;</td><td class="memItemRight" valign="bottom"><b>physicsClient</b> = p.connect(p.GUI)</td></tr>
<tr class="separator:a341066231aef6f235b71a7b2e0f14dbf"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a074778ddf99e589471b2199c9206c43e"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a074778ddf99e589471b2199c9206c43e"></a>
string&#160;</td><td class="memItemRight" valign="bottom"><b>plain_urdf</b> = rospkg.RosPack().get_path(&quot;robot_properties_teststand&quot;)+&quot;/urdf/plane_with_restitution.urdf&quot;</td></tr>
<tr class="separator:a074778ddf99e589471b2199c9206c43e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aed028e4951d0b641f69589f1376bee2a"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aed028e4951d0b641f69589f1376bee2a"></a>
&#160;</td><td class="memItemRight" valign="bottom"><b>planeId</b> = p.loadURDF(plain_urdf)</td></tr>
<tr class="separator:aed028e4951d0b641f69589f1376bee2a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5936bdc6820512a9542249d4d47ffb43"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a5936bdc6820512a9542249d4d47ffb43"></a>
&#160;</td><td class="memItemRight" valign="bottom"><b>urdf_path</b> = TeststandConfig.urdf_path</td></tr>
<tr class="separator:a5936bdc6820512a9542249d4d47ffb43"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9038047929a53b9b02b42718bfbf94c4"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a9038047929a53b9b02b42718bfbf94c4"></a>
&#160;</td><td class="memItemRight" valign="bottom"><b>robotId</b> = p.loadURDF(urdf_path, useFixedBase=True, flags=p.URDF_USE_INERTIA_FROM_FILE)</td></tr>
<tr class="separator:a9038047929a53b9b02b42718bfbf94c4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac31e58e80b9c892209d6b5dcdef70e6d"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac31e58e80b9c892209d6b5dcdef70e6d"></a>
&#160;</td><td class="memItemRight" valign="bottom"><b>pin_robot</b> = TeststandConfig.buildRobotWrapper()</td></tr>
<tr class="separator:ac31e58e80b9c892209d6b5dcdef70e6d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4bd4d899963ba261810fb0ff607f9dfb"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a4bd4d899963ba261810fb0ff607f9dfb"></a>
&#160;</td><td class="memItemRight" valign="bottom"><b>num_joints</b> = p.getNumJoints(robotId)</td></tr>
<tr class="separator:a4bd4d899963ba261810fb0ff607f9dfb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2fbedd39355409bab356b9b5e5eb4cda"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a2fbedd39355409bab356b9b5e5eb4cda"></a>
&#160;</td><td class="memItemRight" valign="bottom"><b>ji</b></td></tr>
<tr class="separator:a2fbedd39355409bab356b9b5e5eb4cda"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af776dbd85feb5c068978fd4804e9a31b"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af776dbd85feb5c068978fd4804e9a31b"></a>
&#160;</td><td class="memItemRight" valign="bottom"><b>linearDamping</b></td></tr>
<tr class="separator:af776dbd85feb5c068978fd4804e9a31b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a82a7f54c2c9327a39dac680a5fa2fd80"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a82a7f54c2c9327a39dac680a5fa2fd80"></a>
&#160;</td><td class="memItemRight" valign="bottom"><b>angularDamping</b></td></tr>
<tr class="separator:a82a7f54c2c9327a39dac680a5fa2fd80"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac1ed8954742d10a613a29d85723c6cc5"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac1ed8954742d10a613a29d85723c6cc5"></a>
&#160;</td><td class="memItemRight" valign="bottom"><b>restitution</b></td></tr>
<tr class="separator:ac1ed8954742d10a613a29d85723c6cc5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acc320028acb284f2f014700ce3f08327"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="acc320028acb284f2f014700ce3f08327"></a>
&#160;</td><td class="memItemRight" valign="bottom"><b>lateralFriction</b></td></tr>
<tr class="separator:acc320028acb284f2f014700ce3f08327"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7cc2f8d95480c9a1973b537571bc3474"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a7cc2f8d95480c9a1973b537571bc3474"></a>
&#160;</td><td class="memItemRight" valign="bottom"><b>numSubSteps</b></td></tr>
<tr class="separator:a7cc2f8d95480c9a1973b537571bc3474"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac98f4a07b1106f5f0c8f7168d4fe5be4"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac98f4a07b1106f5f0c8f7168d4fe5be4"></a>
&#160;</td><td class="memItemRight" valign="bottom"><b>VELOCITY_CONTROL</b></td></tr>
<tr class="separator:ac98f4a07b1106f5f0c8f7168d4fe5be4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a178b027f1818bd3415b132f15751691c"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a178b027f1818bd3415b132f15751691c"></a>
&#160;</td><td class="memItemRight" valign="bottom"><b>forces</b></td></tr>
<tr class="separator:a178b027f1818bd3415b132f15751691c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4fe4b8ca1e202050b10f1f6aae378367"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a4fe4b8ca1e202050b10f1f6aae378367"></a>
&#160;</td><td class="memItemRight" valign="bottom"><b>q</b> = np.matrix([0.3, 0.8, -1.6]).reshape((-1, 1))</td></tr>
<tr class="separator:a4fe4b8ca1e202050b10f1f6aae378367"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a299a959c10709cceb08bb2cea673b5b1"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a299a959c10709cceb08bb2cea673b5b1"></a>
&#160;</td><td class="memItemRight" valign="bottom"><b>dq</b> = zero(3)</td></tr>
<tr class="separator:a299a959c10709cceb08bb2cea673b5b1"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><pre class="fragment">@file bullet_teststand.yaml
@author Maximilien Naveau (maximilien.naveau@gmail.com)
@license License BSD-3-Clause
@copyright Copyright (c) 2019, New York University and Max Planck Gesellschaft.
@date 2019-05-22
@brief Define the interface between the control and the hardware
</pre> </div></div><!-- contents -->
</div><!-- doc-content -->
<!-- start footer part -->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
  <ul>
    <li class="navelem"><a class="el" href="namespacebullet__teststand.html">bullet_teststand</a></li>
    <li class="footer">Generated by
    <a href="http://www.doxygen.org/index.html">
    <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.11 </li>
  </ul>
</div>
</body>
</html>
